Applied and Computational Engineering

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Proceedings of the 4th International Conference on Signal Processing and Machine Learning

Series Vol. 52 , 27 March 2024


Open Access | Article

Comparison between tendon-driven and soft pneumatic actuators in soft robotic hands

Qianli Ye * 1
1 Tongji University

* Author to whom correspondence should be addressed.

Applied and Computational Engineering, Vol. 52, 123-131
Published 27 March 2024. © 27 March 2024 The Author(s). Published by EWA Publishing
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Citation Qianli Ye. Comparison between tendon-driven and soft pneumatic actuators in soft robotic hands. ACE (2024) Vol. 52: 123-131. DOI: 10.54254/2755-2721/52/20241449.

Abstract

Bionic robotic hands have huge potential for applications. Traditional rigid robotic hands have the disadvantages of complex control and poor compliance, while soft robotic hands can well overcome these difficult drawbacks. Tendon-driven actuators and soft pneumatic actuators are two main actuating methods in soft robotic hands which are increasingly used due to their good compliance. This article first reviews the basic principles and structures of these two actuating methods in order to develop a basic understanding of different actuating methods. Then through comparing the dexterity and grasp performance of two specific designs, this article analyzes the characteristics of both methods in terms of their structures. Through discussion of structural differences, the systematic impact of the two actuating methods on function is analyzed and a general conclusion about differences in applicability is drawn. This article aims to help researchers have a better understanding of the two main actuating methods for soft robotic hands before they choose a specific actuating method, which can contribute to better completion of expected functions.

Keywords

soft robotic hand, tendon-driven actuator, soft pneumatic actuator

References

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Data Availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

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Volume Title
Proceedings of the 4th International Conference on Signal Processing and Machine Learning
ISBN (Print)
978-1-83558-349-4
ISBN (Online)
978-1-83558-350-0
Published Date
27 March 2024
Series
Applied and Computational Engineering
ISSN (Print)
2755-2721
ISSN (Online)
2755-273X
DOI
10.54254/2755-2721/52/20241449
Copyright
27 March 2024
Open Access
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited

Copyright © 2023 EWA Publishing. Unless Otherwise Stated